#ifndef BSP_CAN_H
#define BSP_CAN_H
#include "struct_typedef.h"
#include "main.h"
#include "can.h"
#include "stm32f4xx.h"
typedef struct
{
    uint16_t can_id;//??ID
    int16_t  set_voltage;//??????
    uint16_t rotor_angle;//????
    int16_t  rotor_speed;//??
    int16_t  torque_current;//????
    uint8_t  temp;//??
}moto_info_t;
 

extern void set_GM6020_motor_voltage(CAN_HandleTypeDef* hcan,int16_t v1);

extern void can_filter_init(void);

#endif
